| KinfuTracker (int rows=480, int cols=640) | |
| Constructor. More... 构造函数 |
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| void | setDepthIntrinsics (float fx, float fy, float cx=-1, float cy=-1) |
| Sets Depth camera intrinsics. More... 设置深度相机内参 |
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| void | setInitalCameraPose (const Eigen::Affine3f &pose) |
| Sets initial camera pose relative to volume coordinate space. More... 设置相机在立方体坐标空间内的初始位置 |
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| void | setDepthTruncationForICP (float max_icp_distance=0.f) |
| Sets truncation threshold for depth image for ICP step only! This helps to filter measurements that are outside tsdf volume. More... 为ICP阶段设置截断阈值，过滤掉立方体外的点云 |
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| void | setIcpCorespFilteringParams (float distThreshold, float sineOfAngle) |
| Sets ICP filtering parameters. More... 设置ICP滤波参数
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| void | setCameraMovementThreshold (float threshold=0.001f) |
| Sets integration threshold. More... 设置相机整合阈值 |
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| void | initColorIntegration (int max_weight=-1) |
| Performs initialization for color integration. More... 颜色初始化 |
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| int | cols () |
| Returns cols passed to ctor. More... | |
| int | rows () |
| Returns rows passed to ctor. More... | |
| bool | operator() (const DepthMap &depth, Eigen::Affine3f *hint=nullptr) |
| Processes next frame. More... | |
| bool | operator() (const DepthMap &depth, const View &colors) |
| Processes next frame (both depth and color integration). More... | |
| Eigen::Affine3f | getCameraPose (int time=-1) const |
| Returns camera pose at given time, default the last pose. More... 返回给定时刻的相机位置 |
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| std::size_t | getNumberOfPoses () const |
| Returns number of poses including initial. More... 返回位置的个数，包括初始位置 |
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| const TsdfVolume & | volume () const |
| Returns TSDF volume storage. More... TSDF立方体 |
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| TsdfVolume & | volume () |
| Returns TSDF volume storage. More... | |
| const ColorVolume & | colorVolume () const |
| Returns color volume storage. More... 返回颜色立方体 |
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| ColorVolume & | colorVolume () |
| Returns color volume storage. More... | |
| void | getImage (View &view) const |
| Renders 3D scene to display to human. More... 渲染3D场景 |
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| void | getLastFrameCloud (DeviceArray2D< PointType > &cloud) const |
| Returns point cloud abserved from last camera pose. More... 返回上一个相机位置观测到的点云（返回参数是点云） |
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| void | getLastFrameNormals (DeviceArray2D< NormalType > &normals) const |
| Returns point cloud abserved from last camera pose. More... 返回上一个相机位置观测到的点云（返回参数是法线） |
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| void | disableIcp () |
| Disables ICP forever. More... 终止icp |
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